A method and device for suppressing angle scintillation by dual-channel space-time joint regularization processing

Abstract

The application discloses a method and device for suppressing angle scintillation by adopting a time-space joint regularization processing dual-channel method, and belongs to the field of radar signal processing.The azimuth difference channel and the pitch difference channel are alternately transmitted into the difference channel by adopting a ping-pong reuse mode, and the signal processing is performed on the dual-channel formed by the difference channel and the sum channel, the pitch angle and the azimuth angle are detected frame by frame, and the ping-pong reuse method further reduces the hardware cost such as volume and power consumption.Meanwhile, the time-space joint regularization processing angle scintillation suppression method is introduced, the multi-frame angle measurement results are associated by ping-pong, and the multi-scattering point angle measurement values are combined, sorted and matched, and then the angle measurement value is calculated, so that the angle measurement stability is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of radar signal processing, and particularly relates to an angle scintillation suppression method using dual-channel spatiotemporal joint regularization processing. Background Technology

[0002] In radar target detection, accurately measuring the target's azimuth and elevation angles has always been a crucial part of signal processing. In the field of broadband radar, target characteristics are manifested as extended targets with multiple scattering points, which is beneficial for target identification, but also brings about angle measurement errors caused by angular scintillation.

[0003] Regarding methods for suppressing angular scintillation, existing technologies have provided several solutions. For example, one existing radar angle measurement method based on gated weighted frequency diversity suppresses angular scintillation by weighting the angular errors measured at multiple frequency points. However, this method, based on radar diversity technology, requires a large number of frequency points for coherent accumulation, which is time-consuming on missile-borne radars and significantly increases the complexity of the radar system, thus limiting its current application.

[0004] An existing technology provides a single-pulse angle measurement method based on the proximity distance between scattering points in a high-resolution range image. This method calculates the Euclidean distance between scattering points, removes outliers, and uses the geometric center coordinates of the remaining scattering points to calculate the center azimuth and elevation angles of the extended target. This type of algorithm based on the traditional three-channel high-resolution system has a good effect on suppressing angular flicker for stable targets. However, this method does not consider the correlation of the target angle between multiple frames, which reduces the stability of the output value and leads to outlier fluctuations in the output angle error. Summary of the Invention

[0005] This invention aims to solve the above problems and provides an angle flicker suppression method with dual-channel spatiotemporal joint regularization processing.

[0006] In a first aspect, the present invention provides an angle flicker suppression method with dual-channel spatiotemporal joint regularization processing, comprising the following steps:

[0007] S1: Receives multiple echo pulses and transmits the signal via the receiving channel; the azimuth difference and elevation difference signals share a single receiving channel and are transmitted using a single-pole double-throw switch (SPTD) in a ping-pong manner; the receiving signal and azimuth difference signal are preprocessed separately.

[0008] Let the frame to be processed be the m-th frame, where m>1. The azimuth difference signal is valid through the difference channel, while the pitch difference signal has no value.

[0009] S2: After preprocessing, a high-resolution one-dimensional range image of the channel is obtained, target detection is performed, and the K scattering points corresponding to the extended target are calculated;

[0010] The azimuth error values ​​corresponding to the extended target were calculated using the amplitude-comparison single-pulse angle measurement method. Save the amplitude values ​​corresponding to each scattering point in the channel. and the current noise threshold Where i = 1:K m The superscript m represents the m-th frame of data, and the subscript i represents the i-th scattering point of that frame of data;

[0011] Pitch angle error value Inherit from the previous frame The value of j, where j = 1:K m-1 K m-1 This represents the number of scattering points corresponding to the expanded target detected in the previous frame.

[0012] S3: Set the maximum number of valid values ​​of scattering points per frame to Q;

[0013] If the number of scattering points corresponding to the extended target in the current frame is K m If the amplitude is greater than Q, then sort them in descending order of amplitude, retain the first Q largest scattering point values, and discard the rest;

[0014] If the number of scattering points corresponding to the extended target in the current frame is K m If the distance is less than Q, then all scattering points are retained, and the rest are QK. m Each scattering point is filled with a zero value, K m-1 The pitch scattering points are processed in the same way to ensure that the number of scattering points processed remains at Q. One of the difference channels in the ping-pong channel inherits the value from the previous frame, which may lead to inconsistencies in the number of scattering points. If the number of scattering points is greater than Q, the first Q points are retained; if it is less than Q, it needs to be padded to Q.

[0015] S4: Calculate the weights using the difference between the current frame amplitude and the noise threshold, and use this to obtain the weighted average of the azimuth error angle. Weighted average of pitch error angles Then copy the value from the previous frame;

[0016] S5: Set the reference frame number to N, and use the mean angular error of the previous N frames as the reference mean for the current frame through a sliding window. and Right now:

[0017]

[0018] make This represents the azimuth and elevation angle combination error value calculated by the spatiotemporal joint regularization method for the m-th frame, with the direct average of the preceding N frames used as the reference combination value. and Right now:

[0019]

[0020] When m < N, the weighted average value of the frame angle error is copied to the reference combined value and used as the frame angle error. Output,

[0021] S6: Reference mean and reference combination value Weighted calculation is performed to obtain the azimuth reference angle error of the current frame. Pitch reference angle error

[0022]

[0023]

[0024] Where, δ Weight A constant weighting factor for the reference combination value;

[0025] S7: Find the optimal combination of multiple scattering points through a spatiotemporal joint regularization method, and calculate the combined angular error value of this combination. With reference angle error The Euclidean distance between the reference values ​​is used to determine whether the current combination is close to the geometric center of the reference values ​​from the past N frames, thereby finding the closest combination. The process is as follows:

[0026] S71: Combine the Q scattering points of the current frame. The total number of possible combinations, NUM, is:

[0027]

[0028] If the number of scattering points selected for each combination is q, where q ≤ Q, then the azimuth and elevation angle error values ​​for the num-th combination are as follows:

[0029]

[0030] Where p = 1, 2, ..., q;

[0031] S72: Comparison of combined values Compared with reference value The Euclidean distance between the current combination and the reference values ​​of the past N frames is used to determine whether the current combination is close to the geometric center of the reference values ​​of the past N frames, thereby finding the closest combination:

[0032]

[0033] S8: Store the nearest neighbor combination of azimuth and elevation angle errors and use it as the angle error of that frame. Output,

[0034]

[0035]

[0036] Furthermore, in the angle scintillation suppression method with dual-channel spatiotemporal joint regularization processing described in this invention, step S4 involves the weighted average value of the azimuth error angle. The calculation method is as follows:

[0037]

[0038]

[0039] in, W represents the maximum amplitude among the Q scattering points in the current frame, where Δ is the step constant for the amplitude. i m As the weight, W a is a weighting constant.

[0040] Furthermore, the angle scintillation suppression method with dual-channel spatiotemporal joint regularization processing described in this invention includes pulse compression and inter-pulse processing in step S1, where the preprocessing of the sum signal and azimuth difference signal is performed.

[0041] Secondly, the present invention provides an angle scintillation suppression system with dual-channel spatiotemporal joint regularization processing, comprising a receiving module, a processing module, and an output module;

[0042] The receiving module is used to receive multiple echo pulses, and the signals are transmitted through the receiving channel; the azimuth difference and elevation difference signals share a single receiving channel and are transmitted using a single-pole double-throw switch.

[0043] The processing module is used to perform the following procedures:

[0044] S41. Preprocess the sum signal and azimuth difference signal;

[0045] S42. After preprocessing, a high-resolution one-dimensional range image of the channel is obtained. Target detection is performed, and the K scattering points corresponding to the extended target are calculated.

[0046] The azimuth error values ​​corresponding to the extended target were calculated using the amplitude-comparison single-pulse angle measurement method. Save the amplitude values ​​corresponding to each scattering point in the channel. and the current noise threshold Where i = 1:K m The superscript m represents the m-th frame of data, and the subscript i represents the i-th scattering point of that frame of data;

[0047] Pitch angle error value Inherit from the previous frame The value of j, where j = 1:K m-1K m-1 This represents the number of scattering points corresponding to the expanded target detected in the previous frame.

[0048] S43: Set the maximum number of valid values ​​of scattering points per frame to Q;

[0049] If the number of scattering points corresponding to the extended target in the current frame is K m If the amplitude is greater than Q, then sort them in descending order of amplitude, retain the first Q largest scattering point values, and discard the rest;

[0050] If the number of scattering points corresponding to the extended target in the current frame is K m If the distance is less than Q, then all scattering points are retained, and the rest are QK. m Each scattering point is filled with a zero value, K m-1 The same process is applied to each pitch scattering point to ensure that the number of scattering points processed remains at Q.

[0051] S44: Calculate the weights using the difference between the current frame amplitude and the noise threshold, thereby obtaining the weighted average of the azimuth error angle. Weighted average of pitch error angles Then copy the value from the previous frame;

[0052] S45: Set the reference frame number to N, and use the average corner error of the previous N frames as the reference average for the current frame through a sliding window. and Right now:

[0053]

[0054] make This represents the azimuth and elevation angle combination error value calculated by the spatiotemporal joint regularization method for the m-th frame, with the direct average of the preceding N frames used as the reference combination value. and Right now:

[0055]

[0056] When m < N, the weighted average value of the frame angle error is copied to the reference combined value and used as the frame angle error. Output,

[0057] S46: Reference mean and reference combination value Weighted calculation is performed to obtain the azimuth reference angle error of the current frame. Pitch reference angle error

[0058]

[0059]

[0060] Where, δ Weight A constant weighting factor for the reference combination value;

[0061] S47: Find the optimal combination of multiple scattering points using a spatiotemporal joint regularization method, and calculate the combined angular error value of this combination. With reference angle error The Euclidean distance between the reference values ​​is used to determine whether the current combination is close to the geometric center of the reference values ​​from the past N frames, thereby finding the closest combination. The process is as follows:

[0062] S471: Combine the Q scattering points of the current frame. The total number of possible combinations, NUM, is:

[0063]

[0064] If the number of scattering points selected for each combination is q, where q ≤ Q, then the azimuth and elevation angle error values ​​for the num-th combination are as follows:

[0065]

[0066] Where p = 1, 2, ..., q;

[0067] S472: Comparison of combined values Compared with reference value The Euclidean distance between the current combination and the reference values ​​of the past N frames is used to determine whether the current combination is close to the geometric center of the reference values ​​of the past N frames, thereby finding the closest combination:

[0068]

[0069] S48: Store the nearest neighbor combination of azimuth and elevation angle errors;

[0070] The output module is used to take the nearest neighbor combination of azimuth and elevation angle errors as the frame angle error. Output,

[0071]

[0072]

[0073] Furthermore, in the dual-channel spatiotemporal joint regularization processing angle scintillation suppression system of the present invention, the weighted average value of the azimuth error angle in step S44 is... The calculation method is as follows:

[0074]

[0075] in, W represents the maximum amplitude among the Q scattering points in the current frame, where Δ is the step constant for the amplitude. i m As the weight, W a is a weighting constant.

[0076] Furthermore, in the angle scintillation suppression system with dual-channel spatiotemporal joint regularization processing described in this invention, step S41, the preprocessing of the sum signal and azimuth difference signal, includes pulse compression and inter-pulse processing.

[0077] Thirdly, the present invention provides an electronic device for suppressing angle flicker through dual-channel spatiotemporal joint regularization processing, comprising a processor and a memory electrically connected in phase; the memory is used to store a computer program; characterized in that: when the processor executes the aforementioned computer program, it can implement the angle flicker suppression method for dual-channel spatiotemporal joint regularization processing described in the first aspect.

[0078] Fourthly, the present invention provides a computer-readable storage medium storing a computer program; when the computer program is executed, it can implement the angle flicker suppression method of dual-channel spatiotemporal joint regularization processing described in the first aspect.

[0079] The angle flicker suppression method and apparatus for dual-channel spatiotemporal joint regularization processing described in this invention utilizes a ping-pong multiplexing approach, alternately feeding the azimuth difference channel and elevation difference channel into the difference channel. This, along with the sum channel, forms a dual-channel signal processing mechanism, detecting elevation and azimuth angles every other frame. This ping-pong multiplexing method further reduces hardware costs such as size and power consumption. Simultaneously, by introducing a spatiotemporal joint regularization processing angle flicker suppression method, the angle measurement results from multiple frames are correlated using a ping-pong method. Furthermore, the angle measurement values ​​are combined, sorted, and matched using angle measurement values ​​from multiple scattering points to calculate the final angle measurement value, significantly improving angle measurement stability. Attached Figure Description

[0080] Figure 1 This is a schematic diagram of the angle scintillation suppression method with dual-channel spatiotemporal joint regularization processing described in an embodiment of the present invention;

[0081] Figure 2 This is a schematic diagram illustrating the simulation results of the angle scintillation suppression method with dual-channel spatiotemporal joint regularization processing described in this embodiment of the invention.

[0082] Figure 3 This is a schematic diagram of the angle scintillation suppression system structure with dual-channel spatiotemporal joint regularization processing according to an embodiment of the present invention. Detailed Implementation

[0083] The angle scintillation suppression method and apparatus for dual-channel spatiotemporal joint regularization processing described in this invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0084] Example 1

[0085] This embodiment discloses an angle flicker suppression method using dual-channel spatiotemporal joint regularization processing, such as... Figure 1 As shown, it includes the following steps:

[0086] S1: Receive multiple echo pulses and transmit the signal via the difference channel; the azimuth difference and elevation difference signals share a common receiving channel, the difference channel, and are transmitted using a single-pole double-throw switch (SPTD) in a ping-pong manner; preprocess the difference signal and the azimuth difference signal respectively; the preprocessing of the difference signal and the azimuth difference signal includes pulse compression and inter-pulse processing; let the frame to be processed be the m-th frame, m>1, the azimuth difference signal is valid through the difference channel, and the elevation difference signal has no value.

[0087] S2: After preprocessing, a high-resolution one-dimensional range image of the channel is obtained, target detection is performed, and the K scattering points corresponding to the extended target are calculated;

[0088] The azimuth error values ​​corresponding to the extended target were calculated using the amplitude-comparison single-pulse angle measurement method. Save the amplitude values ​​corresponding to each scattering point in the channel. and the current noise threshold Where i = 1:K m The superscript m represents the m-th frame of data, and the subscript i represents the i-th scattering point of that frame of data;

[0089] Pitch angle error value Inherit from the previous frame The value of j, where j = 1:K m-1 K m-1 This represents the number of scattering points corresponding to the expanded target detected in the previous frame. For example... Figure 2 The "+" type scattering point represents the azimuth error information corresponding to all scattering points in each frame.

[0090] S3: Set the maximum number of valid values ​​of scattering points per frame to Q;

[0091] If the number of scattering points corresponding to the extended target in the current frame is K m If the amplitude is greater than Q, then sort them in descending order of amplitude, retain the first Q largest scattering point values, and discard the rest;

[0092] If the number of scattering points corresponding to the extended target in the current frame is K m If the distance is less than Q, then all scattering points are retained, and the rest are QK. m Each scattering point is filled with a zero value, K m-1The pitch scattering points are processed in the same way to ensure that the number of scattering points processed remains at Q. One of the difference channels in the ping-pong channel inherits the value from the previous frame, which may lead to inconsistencies in the number of scattering points. If the number of scattering points is greater than Q, then the first Q points are retained; if it is less than Q, it needs to be padded to Q.

[0093] S4: Calculate the weights using the difference between the current frame amplitude and the noise threshold, and use this to obtain the weighted average of the azimuth error angle. like Figure 2 The solid o-line represents the weighted average of multiple scattering points for the azimuth error angle in each frame; the weighted average of the pitch error angle... Then copy the value from the previous frame.

[0094] S5: Set the reference frame number to N, and use the mean angular error of the previous N frames as the reference mean for the current frame through a sliding window. and Right now:

[0095]

[0096] make This represents the azimuth and elevation angle combination error value calculated by the spatiotemporal joint regularization method for the m-th frame, with the direct average of the preceding N frames used as the reference combination value. and Right now:

[0097]

[0098] When m < N, the weighted average value of the frame angle error is copied to the reference combined value and used as the frame angle error. Output,

[0099] S6: Reference mean and reference combination value Weighted calculation is performed to obtain the azimuth reference angle error of the current frame. Pitch reference angle error

[0100]

[0101]

[0102] Where, δ Weight The constant weighting factor is used as the reference combination value.

[0103] S7: Find the optimal combination of multiple scattering points through a spatiotemporal joint regularization method, and calculate the combined angular error value of this combination. With reference angle error The Euclidean distance between the reference values ​​is used to determine whether the current combination is close to the geometric center of the reference values ​​from the past N frames, thereby finding the closest combination. The process is as follows:

[0104] S71: Combine the Q scattering points of the current frame. The total number of possible combinations, NUM, is:

[0105]

[0106] If the number of scattering points selected for each combination is q, where q ≤ Q, then the azimuth and elevation angle error values ​​for the num-th combination are as follows:

[0107]

[0108] Where p = 1, 2, ..., q;

[0109] S72: Comparison of combined values Compared with reference value The Euclidean distance between the current combination and the reference values ​​of the past N frames is used to determine whether the current combination is close to the geometric center of the reference values ​​of the past N frames, thereby finding the closest combination:

[0110]

[0111] S8: Store the nearest neighbor combination of azimuth and elevation angle errors and use it as the angle error of that frame. Output, output quantity such as Figure 2 The medium-sized marker line indicates that the final output azimuth error of the frame retains the convergence characteristics of the azimuth error compared to the initial angle measurements from multiple scattering points, and is output smoothly.

[0112]

[0113]

[0114] In this embodiment of the disclosure, the weighted average value of the azimuth error angle in step S4 The calculation method is as follows:

[0115]

[0116]

[0117] in, W represents the maximum amplitude among the Q scattering points in the current frame, where Δ is the step constant for the amplitude. i m As the weight, W a is a weighting constant.

[0118] Example 2

[0119] This embodiment discloses an angle scintillation suppression system with dual-channel spatiotemporal joint regularization; such as Figure 3 As shown, it includes a receiving module, a processing module, and an output module.

[0120] The receiving module is used to receive multiple echo pulses and transmit the signals via a channel; the azimuth difference and elevation difference signals share a single receiving channel and are transmitted using a single-pole double-throw switch.

[0121] The processing module is used to perform the following procedures:

[0122] S41. Preprocess the sum signal and azimuth difference signal; the preprocessing of the sum signal and azimuth difference signal includes pulse compression and inter-pulse processing.

[0123] S42. After preprocessing, a high-resolution one-dimensional range image of the channel is obtained. Target detection is performed, and the K scattering points corresponding to the extended target are calculated.

[0124] The azimuth error values ​​corresponding to the extended target were calculated using the amplitude-comparison single-pulse angle measurement method. Save the amplitude values ​​corresponding to each scattering point in the channel. and the current noise threshold Where i = 1:K m The superscript m represents the m-th frame of data, and the subscript i represents the i-th scattering point of that frame of data;

[0125] Pitch angle error value Inherit from the previous frame The value of j, where j = 1:K m-1 K m-1 This represents the number of scattering points corresponding to the expanded target detected in the previous frame.

[0126] S43: Set the maximum number of valid values ​​of scattering points per frame to Q;

[0127] If the number of scattering points corresponding to the extended target in the current frame is K m If the amplitude is greater than Q, then sort them in descending order of amplitude, retain the first Q largest scattering point values, and discard the rest;

[0128] If the number of scattering points corresponding to the extended target in the current frame is K m If the distance is less than Q, then all scattering points are retained, and the rest are QK. m Each scattering point is filled with a zero value, K m-1 The same process is applied to each pitch scattering point to ensure that the number of scattering points processed remains at Q.

[0129] S44: Calculate the weights using the difference between the current frame amplitude and the noise threshold, thereby obtaining the weighted average of the azimuth error angle. Weighted average of pitch error angles Then copy the value from the previous frame;

[0130] S45: Set the reference frame number to N, and use the average corner error of the previous N frames as the reference average for the current frame through a sliding window. and Right now:

[0131]

[0132] make This represents the azimuth and elevation angle combination error value calculated by the spatiotemporal joint regularization method for the m-th frame, with the direct average of the preceding N frames used as the reference combination value. and Right now:

[0133]

[0134] When m < N, the weighted average value of the frame angle error is copied to the reference combined value and used as the frame angle error. Output,

[0135] S46: Reference mean and reference combination value Weighted calculation is performed to obtain the azimuth reference angle error of the current frame. Pitch reference angle error

[0136]

[0137]

[0138] Where, δ Weight A constant weighting factor for the reference combination value;

[0139] S47: Find the optimal combination of multiple scattering points using a spatiotemporal joint regularization method, and calculate the combined angular error value of this combination. With reference angle error The Euclidean distance between the reference values ​​is used to determine whether the current combination is close to the geometric center of the reference values ​​from the past N frames, thereby finding the closest combination. The process is as follows:

[0140] S471: Combine the Q scattering points of the current frame. The total number of possible combinations, NUM, is:

[0141]

[0142] If the number of scattering points selected for each combination is q, where q ≤ Q, then the azimuth and elevation angle error values ​​for the num-th combination are as follows:

[0143]

[0144] Where p = 1, 2, ..., q;

[0145] S472: Comparison of combined values Compared with reference value The Euclidean distance between the current combination and the reference values ​​of the past N frames is used to determine whether the current combination is close to the geometric center of the reference values ​​of the past N frames, thereby finding the closest combination:

[0146]

[0147] S48: Store the nearest neighbor combination of azimuth and elevation angle errors;

[0148] The output module is used to take the nearest neighbor combination of azimuth and elevation angle errors as the frame angle error. Output,

[0149]

[0150]

[0151] In this embodiment of the disclosure, the weighted average value of the azimuth error angle in step S44 The calculation method is as follows:

[0152]

[0153] in, W represents the maximum amplitude among the Q scattering points in the current frame, where Δ is the step constant for the amplitude. i m As the weight, W a is a weighting constant.

[0154] Example 3

[0155] This embodiment discloses an electronic device for suppressing angle flicker using dual-channel spatiotemporal joint regularization processing, including a processor and a memory electrically connected to each other; the memory is used to store a computer program; when the processor executes the aforementioned computer program, it can implement the angle flicker suppression method using dual-channel spatiotemporal joint regularization processing as described in Embodiment 1. The specific suppression method steps are the same as those in Embodiment 1, and will not be repeated here.

[0156] Example 4

[0157] This embodiment discloses a computer-readable storage medium storing a computer program. When the computer program is executed, it can implement the angle flicker suppression method with dual-channel spatiotemporal joint regularization processing as described in Embodiment 1. The specific suppression method steps are the same as those in Embodiment 1, and will not be repeated here.

[0158] The computer described in this application embodiment can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. The computer-readable storage medium can be any usable medium that a computer can read, or a data storage device such as a server or data center that integrates one or more usable media. The usable medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., digital versatile optical disc (DVD)), or a semiconductor medium (e.g., solid-state drive (SSD)). The software formed by the computer's stored code can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other storage media that are mature in the art.

[0159] In the various embodiments of this application, the functional modules can be integrated into one processing unit or module, or each module can exist physically separately, or two or more modules can be integrated into one unit or module. In the above embodiments, they can be implemented entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, they can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0160] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for suppressing angular scintillation using dual-channel spatiotemporal joint regularization processing, characterized in that... Includes the following steps: S1: Receives multiple echo pulses and transmits the signal via the receiving channel; the azimuth difference and elevation difference signals share a single receiving channel and are transmitted using a single-pole double-throw switch; the receiving signal and azimuth difference signal are preprocessed separately. Let the frame to be processed be the m-th frame, where m>1. The azimuth difference signal is valid through the difference channel, while the pitch difference signal has no value. S2: After preprocessing, a high-resolution one-dimensional range image of the channel is obtained, target detection is performed, and the K scattering points corresponding to the extended target are calculated; The azimuth error values ​​corresponding to the extended target were calculated using the amplitude-comparison single-pulse angle measurement method. ; Save the amplitude values ​​corresponding to each scattering point in the channel. and the current noise threshold Where i=1: K m The superscript m represents the m-th frame of data, and the subscript i represents the i-th scattering point in that frame of data; K is the number of scattering points corresponding to the extended target; Pitch angle error value Inherit from the previous frame The value of K, where j=1: m-1 K m-1 This represents the number of scattering points corresponding to the expanded target detected in the previous frame. S3: Set the maximum number of valid values ​​of scattering points per frame to Q; If the number of scattering points corresponding to the extended target in the current frame is K m If the amplitude is greater than Q, then sort them in descending order of amplitude, retain the first Q largest scattering point values, and discard the rest; If the number of scattering points corresponding to the extended target in the current frame is K m If the distance is less than Q, then all scattering points are retained, and the rest are QK. m Each scattering point is filled with a zero value, K m-1 The same process is applied to each pitch scattering point to ensure that the number of scattering points processed remains at Q. S4: Calculate the weights using the difference between the current frame amplitude and the noise threshold, and use this to obtain the weighted average of the azimuth error angle. Weighted average pitch error angle Then copy the value from the previous frame; S5: Set the reference frame number to N, and use the mean angular error of the previous N frames as the reference mean for the current frame through a sliding window. and ,Right now: ， ； make , This represents the azimuth and elevation angle combination error value calculated by the spatiotemporal joint regularization method for the m-th frame, with the direct average of the preceding N frames used as the reference combination value. and ,Right now: ， ； When m < N, the weighted average value of the frame angle error is copied to the reference combined value and used as the frame angle error. Output, ; S6: Reference mean and reference combination value Weighted calculation is performed to obtain the azimuth reference angle error of the current frame. Pitch reference angle error : ； ； in, A constant weighting factor for the reference combination value; S7: Find the optimal combination of multiple scattering points through a spatiotemporal joint regularization method, and calculate the combined angular error value of this combination. With reference angle error The Euclidean distance between the reference values ​​is used to determine whether the current combination is close to the geometric center of the reference values ​​from the past N frames, thereby finding the closest combination. The process is as follows: S71: Combine the Q scattering points of the current frame. The total number of possible combinations, NUM, is: ； If the number of scattering points selected for each combination is q, where q ≤ Q, then the azimuth and elevation angle error values ​​for the num-th combination are as follows: Where p = 1, 2, ..., q; S72: Comparison of combined values , Compared with reference value , The Euclidean distance between the current combination and the reference values ​​of the past N frames is used to determine whether the current combination is close to the geometric center of the reference values ​​of the past N frames, thereby finding the closest combination: ； S8: Store the nearest neighbor combination of azimuth and elevation angle errors and use it as the angle error of that frame. Output, 。 2. The angle scintillation suppression method with dual-channel spatiotemporal joint regularization processing according to claim 1, characterized in that... As described in step S4, the weighted average of the azimuth error angles The calculation method is as follows: ， ； in, The maximum amplitude among the Q scattering points in the current frame, where Δ is the step constant for the amplitude. As the weight, W a is a weighting constant.

3. The angle scintillation suppression method with dual-channel spatiotemporal joint regularization processing according to claim 2, characterized in that... Step S1 involves preprocessing the sum and azimuth difference signals, including pulse compression and inter-pulse processing.

4. An angle scintillation suppression system with dual-channel spatiotemporal joint regularization processing, characterized in that: It includes a receiving module, a processing module, and an output module; The receiving module is used to receive multiple echo pulses, and the signals are transmitted through the receiving channel; the azimuth difference and elevation difference signals share a single receiving channel and are transmitted using a single-pole double-throw switch. The processing module is used to perform the following procedures: S41. Preprocess the sum signal and azimuth difference signal; S42. After preprocessing, a high-resolution one-dimensional range image of the channel is obtained. Target detection is performed, and the K scattering points corresponding to the extended target are calculated. The azimuth error values ​​corresponding to the extended target were calculated using the amplitude-comparison single-pulse angle measurement method. ; Save the amplitude values ​​corresponding to each scattering point in the channel. and the current noise threshold Where i=1: K m The superscript m represents the m-th frame of data, and the subscript i represents the i-th scattering point in that frame of data; K is the number of scattering points corresponding to the extended target; Pitch angle error value Inherit from the previous frame The value of K, where j=1: m-1 K m-1 This represents the number of scattering points corresponding to the expanded target detected in the previous frame. S43: Set the maximum number of valid values ​​of scattering points per frame to Q; If the number of scattering points corresponding to the extended target in the current frame is K m If the amplitude is greater than Q, then sort them in descending order of amplitude, retain the first Q largest scattering point values, and discard the rest; If the number of scattering points corresponding to the extended target in the current frame is K m If the distance is less than Q, then all scattering points are retained, and the rest are QK. m Each scattering point is filled with a zero value, K m-1 The same process is applied to each pitch scattering point to ensure that the number of scattering points processed remains at Q. S44: Calculate the weights using the difference between the current frame amplitude and the noise threshold, thereby obtaining the weighted average of the azimuth error angle. Weighted average pitch error angle Then copy the value from the previous frame; S45: Set the reference frame number to N, and use the average corner error of the previous N frames as the reference average for the current frame through a sliding window. and ,Right now: ， ； make , This represents the azimuth and elevation angle combination error value calculated by the spatiotemporal joint regularization method for the m-th frame, with the direct average of the preceding N frames used as the reference combination value. and ,Right now: ， ； when At that time, the weighted average value of the frame angle error is copied to the reference combined value and used as the frame angle error. Output, ; S46: Reference mean and reference combination value Weighted calculation is performed to obtain the azimuth reference angle error of the current frame. Pitch reference angle error : ； ； in, A constant weighting factor for the reference combination value; S47: Find the optimal combination of multiple scattering points using a spatiotemporal joint regularization method, and calculate the combined angular error value of this combination. With reference angle error The Euclidean distance between the reference values ​​is used to determine whether the current combination is close to the geometric center of the reference values ​​from the past N frames, thereby finding the closest combination. The process is as follows: S471: Combine the Q scattering points of the current frame. The total number of possible combinations, NUM, is: ； If the number of scattering points selected for each combination is q, where q ≤ Q, then the azimuth and elevation angle error values ​​for the num-th combination are as follows: Where p = 1, 2, ..., q; S472: Comparison of combined values , Compared with reference value , The Euclidean distance between the current combination and the reference values ​​of the past N frames is used to determine whether the current combination is close to the geometric center of the reference values ​​of the past N frames, thereby finding the closest combination: ； S48: Store the nearest neighbor combination of azimuth and elevation angle errors; The output module is used to take the nearest neighbor combination of azimuth and elevation angle errors as the frame angle error. Output, 。 5. The angle scintillation suppression system with dual-channel spatiotemporal joint regularization processing according to claim 4, characterized in that: The weighted average of the azimuth error angles mentioned in step S44 The calculation method is as follows: ， ； in, The maximum amplitude among the Q scattering points in the current frame, where Δ is the step constant for the amplitude. As the weight, W a is a weighting constant.

6. The angle scintillation suppression system with dual-channel spatiotemporal joint regularization processing according to claim 5, characterized in that: Step S41, which involves preprocessing the sum and azimuth difference signals, includes pulse compression and inter-pulse processing.

7. An electronic device for suppressing angle scintillation using dual-channel spatiotemporal joint regularization processing, characterized in that: The system includes a processor and a memory electrically connected to each other; the memory is used to store computer programs; characterized in that: when the processor executes the aforementioned computer program, it can implement the angle flicker suppression method of dual-channel spatiotemporal joint regularization processing as described in any one of claims 1-3.

8. A computer-readable storage medium, characterized in that: The storage medium stores a computer program; when the computer program is executed, it can implement the angle flicker suppression method of dual-channel spatiotemporal joint regularization processing as described in any one of claims 1-3.

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